CN101545777B - Synchronization double imaging lightning positioning method - Google Patents
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- CN101545777B CN101545777B CN2009103019850A CN200910301985A CN101545777B CN 101545777 B CN101545777 B CN 101545777B CN 2009103019850 A CN2009103019850 A CN 2009103019850A CN 200910301985 A CN200910301985 A CN 200910301985A CN 101545777 B CN101545777 B CN 101545777B
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Abstract
The present invention relates to a synchronization double imaging lightning positioning method comprising the following steps: setting two image collectors in a distance; shooting the lightning simultaneously by an image collector 1 and an image collector 2 and respectively getting the photos P1 and P2; finding a series of identical characteristic points A1, A2...An of the lightning at the P1 and P2; points D, B C of the vertical projection point A1 form a triangle DBC, measuring the distance BC between two image collectors, computing BD and CD according to the geometry formula; computing the transversal and longitudinal coordinate of the point A1 at the X axis and Y axis; obtaining the height coordinate of the point A1 on the lightning at the Z axis; obtaining the coordinate X, Y, Z of the point A2...An on the lightning. The method has simple measuring steps, accurate measurement result and is widely applied in the fields such as aviation, aerospace and weather.
Description
Technical field
The present invention relates to a kind of localization method of lightning.
Background technology
When lightning takes place, can produce huge counterattack electric current and electric pulse radiation.Therefore, lightning location is surveyed the safety that direct relation airborne aircraft, is the important referential data of aircraft flight and spacecraft lift-off.Traditional lightning location equipment has magnetic direction detection instrument and time difference method detection instrument, can write down indexs such as time that lightning takes place, position, intensity, polarity, just can finish measurement but above-mentioned measuring method all need be provided with many instruments, the equipment needed thereby complexity, the measurement cost is higher, and bearing accuracy is limited.
Summary of the invention
The invention provides a kind of synchronization double imaging lightning positioning method, solve the technical matters of carrying out lightning location with the method simple, that precision is high, cost is low.
The technical solution adopted for the present invention to solve the technical problems is:
This synchronization double imaging lightning positioning method is characterized in that measuring process is as follows:
Step 1: two image acquisition devices are separated by one apart from being provided with, make two image acquisition devices can photograph the same area of lightning, and the line that obtains the focus C of the focus B of image acquisition device 1 and image acquisition device 2 is baseline BC, two image acquisition device camera lenses are vertically to the sky, and the imaging plane major axis or the minor axis of image acquisition device are parallel with baseline;
Step 2: when lightning took place, image acquisition device 1 and image acquisition device 2 were taken lightning simultaneously, and obtain photo P1 and photo P2 respectively;
Step 3: on P1 and P2, find lightning series of identical unique point A1, A2 ... An, in photo P1 and photo P2, find the vertical projection point D of A1 point respectively in image acquisition device 1 and focal plane, image acquisition device 2 place, measure the angle ∠ DBC of D point and B point line and baseline BC respectively, and the angle ∠ DCB of D point and C point line and baseline BC;
Step 4:A1 and image acquisition device 1 focus B and image acquisition device 2 focus C have constituted triangle A1BC, constituted triangle DBC between the vertical projection point D of A1 and B point and the C point, record between two image acquisition devices apart from BC, and measure ∠ DBC and ∠ DCB from the photo of image acquisition device 1 and image acquisition device 2, calculate BD and CD by geometric formula;
Step 5: calculate the A1 point respectively X-axis, Y-axis laterally and along slope coordinate,
X=BD×sin(DBC)，
Y=BD×COS(DBC)；
Step 6: with right-angle triangle A1BD is reference plane, find the subpoint D ' of A1 point on photo P1, on image acquisition device 1 optical axis, get the E point, make the parallel BD of A1E, the distance that the picture point E' that E is ordered is ordered to B, be that focal length E'B is known, photograph from image acquisition device 1 records D ' E ' again, because triangle A1BD and triangle B D'E' are similar triangles, is true origin with the B point, obtain on the lightning A1 point in the height coordinate of Z axle, i.e. Z=A1D=BD * E'B/D ' E ';
Step 7: the method by in the above-mentioned steps 1～6 obtains A2 on the lightning ... coordinate X, Y, Z that An is ordered promptly obtain the skyborne position of lightning.
Above-mentioned cloud atlas can be visible images collector or infreared imaging device as collector.
Above-mentioned visible images collector can be camera or video camera.
Can calculate BD and CD by following geometric formula in the above-mentioned steps 4,
BD×COS(DBC)+DC×COS(DCB)=BC；
BD×sin(DBC)=DC×sin(DCB)。
Beneficial effect of the present invention is as follows:
Synchronization double imaging lightning positioning method of the present invention is to adopt two image acquisition devices (baseline) separated by a distance, absorb the sky image document simultaneously, when lightning takes place, two image acquisition devices obtain image document P1 and the P2 that two of synchronizations have lightning, find series of identical unique point (A1, A2, An) on P1 and P2.With A1 is example, on P1, P2, measure respectively photo center (camera optical axis) to the distance of A1 and with the angle of baseline, calculate the skyborne position of A1, i.e. X, Y, Z coordinate by the principle of three-dimensional triangle.Can obtain the locus of other unique points with quadrat method.The measuring process of this method is comparatively simple, and measurement result is accurate, the 2000 meters settings of can being separated by of two image acquisition devices.Solve the lightning location problem with lower cost, can be widely used in fields such as Aeronautics and Astronautics, meteorology.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the synoptic diagram of embodiment one step 1 and step 2.
Fig. 2 is the synoptic diagram of embodiment one step 3, step 4, step 5.
Fig. 3 is the synoptic diagram of embodiment one step 6.
Reference numeral: 1-image acquisition device 1,2-image acquisition device 2,3-cloud base, 4-imaging plane,
A1: the unique point of lightning, B: image acquisition device 1 focus, C: image acquisition device 2 focuses, D:A1 point are at vertical projection point, the subpoint of D':A1 point on photo P1 of image acquisition device 1 and focal plane, image acquisition device 2 place, E: a bit, make the parallel BD of A1E on image acquisition device 1 optical axis; E':E point loca on imaging plane;
Among Fig. 1: W is: image acquisition device 1 and image acquisition device 2 common imaging scopes.
Among Fig. 2: X, Y, Z are: coordinate axis.
Embodiment
Embodiment one:
The measuring process of this synchronization double imaging lightning positioning method is as follows:
Step 1: two image acquisition devices are separated by one apart from being provided with, make two image acquisition devices can photograph the same area of lightning, and the line that obtains the focus C of the focus B of image acquisition device 1 and image acquisition device 2 is baseline BC, BC=2000 rice, two image acquisition device camera lenses are vertically to the sky, and the imaging plane major axis or the minor axis of image acquisition device are parallel with baseline;
Step 2: when lightning took place, image acquisition device 1 and image acquisition device 2 were taken lightning simultaneously, and obtain photo P1 and photo P2 respectively;
Step 3: on P1 and P2, find lightning series of identical unique point (A1, A2 ... An), in photo P1 and photo P2, find the vertical projection point D of A1 point respectively in image acquisition device 1 and focal plane, image acquisition device 2 place, measure the angle ∠ DBC of D point and B point line and baseline BC respectively, and the angle ∠ DCB of D point and C point line and baseline BC;
Step 4:A1 and image acquisition device 1 focus B and image acquisition device 2 focus C have constituted triangle A1BC, constituted triangle DBC between the vertical projection point D of A1 and B point and the C point, record between two image acquisition devices apart from BC, and measure ∠ DBC and ∠ DCB from the photo of image acquisition device 1 and image acquisition device 2, calculate BD and CD by geometric formula;
BD×COS(DBC)+DC×COS(DCB)=BC；
BD×sin(DBC)=DC×sin(DCB)。
Step 5: calculate the A1 point respectively X-axis, Y-axis laterally and along slope coordinate,
X=BD×sin(DBC)，
Y=BD×COS(DBC)；
Step 6: with right-angle triangle A1BD is reference plane, find the subpoint D ' of A1 point on photo P1, on image acquisition device 1 optical axis, get the E point, make the parallel BD of A1E, the distance that the picture point E' that E is ordered is ordered to B, be that focal length E'B is known, photograph from image acquisition device 1 records D ' E ' again, because triangle A1BD and triangle B D'E' are similar triangles, is true origin with the B point, obtain on the lightning A1 point in the height coordinate of Z axle, i.e. Z=A1D=BD * E'B/D ' E ';
Step 7: the method by in the above-mentioned steps 1～6 obtains A2 on the lightning ... coordinate X, Y, Z that An is ordered promptly obtain the skyborne position of lightning.
Above-mentioned cloud atlas is visible images collector or infreared imaging device as collector.The visible images collector can be camera or video camera.
Embodiment two: different with embodiment one is, but above-mentioned two also horizontal parallel settings of image acquisition device camera lens optical axis, and image acquisition device imaging plane major axis or minor axis are parallel with baseline.
Embodiment three: different with embodiment one is, above-mentioned two image acquisition device imaging planes are a vertical plane simultaneously also, and two camera lens optical axis become certain angle of cut.
Claims (4)
1. synchronization double imaging lightning positioning method is characterized in that measuring process is as follows:
Step 1: two image acquisition devices are separated by one apart from being provided with, make two image acquisition devices can photograph the same area of lightning, and the line that obtains the focus C of the focus B of image acquisition device 1 and image acquisition device 2 is baseline BC, two image acquisition device camera lenses are vertically to the sky, and the imaging plane major axis or the minor axis of image acquisition device are parallel with baseline;
Step 2: when lightning took place, image acquisition device 1 and image acquisition device 2 were taken lightning simultaneously, and obtain photo P1 and photo P2 respectively;
Step 3: on P1 and P2, find lightning series of identical unique point A1, A2 ... An, in photo P1 and photo P2, find the vertical projection point D of A1 point respectively in image acquisition device 1 and focal plane, image acquisition device 2 place, measure the angle ∠ DBC of D point and B point line and baseline BC respectively, and the angle ∠ DCB of D point and C point line and baseline BC;
Step 4:A1 and image acquisition device 1 focus B and image acquisition device 2 focus C have constituted triangle A1BC, constituted triangle DBC between the vertical projection point D of A1 and B point and the C point, record between two image acquisition devices apart from BC, and measure ∠ DBC and ∠ DCB from the photo of image acquisition device 1 and image acquisition device 2, calculate BD and CD by geometric formula;
Step 5: calculate the A1 point respectively X-axis, Y-axis laterally and along slope coordinate,
X=BD×COS(DBC)，
Y=BD×sin(DBC)；
Step 6: with right-angle triangle A1BD is reference plane, find the subpoint D ' of A1 point on photo P1, on image acquisition device 1 optical axis, get the E point, make the parallel BD of A1E, the distance that the picture point E' that E is ordered is ordered to B, be that focal length E'B is known, photograph from image acquisition device 1 records D'E' again, because triangle A1BD and triangle BD'E' are similar triangles, is true origin with the B point, obtain on the lightning A1 point at the height coordinate of Z axle, i.e. Z=A1D=BD * E'B/D'E';
Step 7: the method by in the above-mentioned steps 1～6 obtains A2 on the lightning ... coordinate X, Y, Z that An is ordered promptly obtain the skyborne position of lightning.
2. synchronization double imaging lightning positioning method according to claim 1 is characterized in that: above-mentioned image acquisition device is visible images collector or infreared imaging device.
3. synchronization double imaging lightning positioning method according to claim 2 is characterized in that: above-mentioned visible images collector is camera or video camera.
4. synchronization double imaging lightning positioning method according to claim 1 and 2 is characterized in that: can calculate BD and CD by following geometric formula in the above-mentioned steps 4,
BD×COS(DBC)+?CD×COS(DCB)=BC；
BD×sin(DBC)=?CD×sin(DCB)。
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| CN105044800B (en) * | 2015-05-29 | 2017-12-19 | 中国人民解放军理工大学 | A kind of lighting location device and method based on optical observation |
| CN105606904B (en) * | 2015-10-31 | 2020-03-17 | 国网山东莒县供电公司 | Method for determining flash point |
| CN106296698B (en) * | 2016-08-15 | 2019-03-29 | 成都通甲优博科技有限责任公司 | A kind of lightning 3-D positioning method based on stereoscopic vision |
| CN109974667B (en) * | 2017-12-27 | 2021-07-23 | 宁波方太厨具有限公司 | Indoor human body positioning method |
| CN110609178A (en) * | 2019-10-22 | 2019-12-24 | 中国气象科学研究院 | Lightning channel dual-camera automatic observation system and method |
| CN112113524A (en) * | 2020-09-01 | 2020-12-22 | 河南理工大学 | System for monitoring movement of rock and soil mass based on geological radar and corner reflector |
| CN115717869B (en) * | 2022-12-07 | 2024-09-13 | 山西华智弘兴科技有限公司 | Laser detection device for multidimensional sensing inspection robot and detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1646928A (en) * | 2002-02-13 | 2005-07-27 | 瓦尔萨拉有限责任公司 | Lightning detection and data acquisition system |
| CN101095056A (en) * | 2004-03-04 | 2007-12-26 | 诺基亚公司 | Detection of lightning |
| US7511467B2 (en) * | 2005-10-14 | 2009-03-31 | Nokia Corporation | Detection of lightning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1646928A (en) * | 2002-02-13 | 2005-07-27 | 瓦尔萨拉有限责任公司 | Lightning detection and data acquisition system |
| CN101095056A (en) * | 2004-03-04 | 2007-12-26 | 诺基亚公司 | Detection of lightning |
| US7511467B2 (en) * | 2005-10-14 | 2009-03-31 | Nokia Corporation | Detection of lightning |
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